diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp
index c151369011..d9b22720f3 100644
--- a/src/modules/navigator/takeoff.cpp
+++ b/src/modules/navigator/takeoff.cpp
@@ -69,6 +69,25 @@ Takeoff::on_active()
 		_navigator->get_mission_result()->finished = true;
 		_navigator->set_mission_result_updated();
 		_navigator->mode_completed(getNavigatorStateId());
+
+		position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+		// set loiter item so position controllers stop doing takeoff logic
+		if (_navigator->get_land_detected()->landed) {
+			_mission_item.nav_cmd = NAV_CMD_IDLE;
+
+		} else {
+			if (pos_sp_triplet->current.valid) {
+				setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
+
+			} else {
+				setLoiterItemFromCurrentPosition(&_mission_item);
+			}
+		}
+
+		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+
+		_navigator->set_position_setpoint_triplet_updated();
 	}
 }